OpenRaiser/Intern-Atlas huggingface dataset:
Deterministic Performance Guarantees for Bidirectional BFS on Real-World Networks
Venue: arXiv cs.DS 2023
Year: 2023

A common technique to speed up shortest path queries in graphs is to use a bidirectional search, i.e., performing a forward search from the start and a backward search from the destination until a common vertex on a shortest path is found. In practice, this has a tremendous impact on the performance on some real-world networks, while it only seems to save a constant factor on other types of networks. Even though finding shortest paths is a ubiquitous problem, there are only few studies attempting to understand the apparently asymptotic speedups on some networks, using average case analysis on certain models for real-world networks. In this paper we give a new perspective on this, by analyzing deterministic properties that permit theoretical analysis and that can easily be checked on any particular instance. We prove that these parameters imply sublinear running time for the bidirectional breadth-first search in several regimes, some of which are tight. Moreover, we perform experiments on a large set of real-world networks showing that our parameters capture the concept of practical running time well.
SpeechLM: Enhanced Speech Pre-Training with Unpaired Textual Data
Venue: arXiv cs.CL 2023
Year: 2023

How to boost speech pre-training with textual data is an unsolved problem due to the fact that speech and text are very different modalities with distinct characteristics. In this paper, we propose a cross-modal Speech and Language Model (SpeechLM) to explicitly align speech and text pre-training with a pre-defined unified discrete representation. Specifically, we introduce two alternative discrete tokenizers to bridge the speech and text modalities, including phoneme-unit and hidden-unit tokenizers, which can be trained using a small amount of paired speech-text data. Based on the trained tokenizers, we convert the unlabeled speech and text data into tokens of phoneme units or hidden units. The pre-training objective is designed to unify the speech and the text into the same discrete semantic space with a unified Transformer network. We evaluate SpeechLM on various spoken language processing tasks including speech recognition, speech translation, and universal representation evaluation framework SUPERB, demonstrating significant improvements on content-related tasks. Code and models are available at https://aka.ms/SpeechLM.
Momentum Tracking: Momentum Acceleration for Decentralized Deep Learning on Heterogeneous Data
Venue: arXiv cs.LG 2023
Year: 2023

SGD with momentum is one of the key components for improving the performance of neural networks. For decentralized learning, a straightforward approach using momentum is Distributed SGD (DSGD) with momentum (DSGDm). However, DSGDm performs worse than DSGD when the data distributions are statistically heterogeneous. Recently, several studies have addressed this issue and proposed methods with momentum that are more robust to data heterogeneity than DSGDm, although their convergence rates remain dependent on data heterogeneity and deteriorate when the data distributions are heterogeneous. In this study, we propose Momentum Tracking, which is a method with momentum whose convergence rate is proven to be independent of data heterogeneity. More specifically, we analyze the convergence rate of Momentum Tracking in the setting where the objective function is non-convex and the stochastic gradient is used. Then, we identify that it is independent of data heterogeneity for any momentum coefficient $β\in [0, 1)$. Through experiments, we demonstrate that Momentum Tracking is more robust to data heterogeneity than the existing decentralized learning methods with momentum and can consistently outperform these existing methods when the data distributions are heterogeneous.
Evaluation of physics constrained data-driven methods for turbulence model uncertainty quantification
Venue: arXiv cs.CE 2023
Year: 2023

In order to achieve a virtual certification process and robust designs for turbomachinery, the uncertainty bounds for Computational Fluid Dynamics have to be known. The formulation of turbulence closure models implies a major source of the overall uncertainty of Reynolds-averaged Navier-Stokes simulations. We discuss the common practice of applying a physics constrained eigenspace perturbation of the Reynolds stress tensor in order to account for the model form uncertainty of turbulence models. Since the basic methodology often leads to overly generous uncertainty estimates, we extend a recent approach of adding a machine learning strategy. The application of a data-driven method is motivated by striving for the detection of flow regions, which are prone to suffer from a lack of turbulence model prediction accuracy. In this way any user input related to choosing the degree of uncertainty is supposed to become obsolete. This work especially investigates an approach, which tries to determine an a priori estimation of prediction confidence, when there is no accurate data available to judge the prediction. The flow around the NACA 4412 airfoil at near-stall conditions demonstrates the successful application of the data-driven eigenspace perturbation framework. Furthermore, we especially highlight the objectives and limitations of the underlying methodology.
RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments
Venue: arXiv cs.RO 2023
Year: 2023

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures, resulting in excessive computation time. In this paper, we present an accelerated collision-free motion planner, namely regularized dual alternating direction method of multipliers (RDADMM or RDA for short), for the model predictive control (MPC) based motion planning problem. The proposed RDA addresses nonconvex motion planning via solving a smooth biconvex reformulation via duality and allows the collision avoidance constraints to be computed in parallel for each obstacle to reduce computation time significantly. We validate the performance of the RDA planner through path-tracking experiments with car-like robots in both simulation and real-world settings. Experimental results show that the proposed method generates smooth collision-free trajectories with less computation time compared with other benchmarks and performs robustly in cluttered environments. The source code is available at https://github.com/hanruihua/RDA_planner.
Solving Coupled Differential Equation Groups Using PINO-CDE
Venue: arXiv cs.LG 2023
Year: 2023

As a fundamental mathmatical tool in many engineering disciplines, coupled differential equation groups are being widely used to model complex structures containing multiple physical quantities. Engineers constantly adjust structural parameters at the design stage, which requires a highly efficient solver. The rise of deep learning technologies has offered new perspectives on this task. Unfortunately, existing black-box models suffer from poor accuracy and robustness, while the advanced methodologies of single-output operator regression cannot deal with multiple quantities simultaneously. To address these challenges, we propose PINO-CDE, a deep learning framework for solving coupled differential equation groups (CDEs) along with an equation normalization algorithm for performance enhancing. Based on the theory of physics-informed neural operator (PINO), PINO-CDE uses a single network for all quantities in a CDEs, instead of training dozens, or even hundreds of networks as in the existing literature. We demonstrate the flexibility and feasibility of PINO-CDE for one toy example and two engineering applications: vehicle-track coupled dynamics (VTCD) and reliability assessment for a four-storey building (uncertainty propagation). The performance of VTCD indicates that PINO-CDE outperforms existing software and deep learning-based methods in terms of efficiency and precision, respectively. For the uncertainty propagation task, PINO-CDE provides higher-resolution results in less than a quarter of the time incurred when using the probability density evolution method (PDEM). This framework integrates engineering dynamics and deep learning technologies and may reveal a new concept for CDEs solving and uncertainty propagation.
Frequency Estimation of Evolving Data Under Local Differential Privacy
Venue: arXiv cs.CR 2023
Year: 2023

Collecting and analyzing evolving longitudinal data has become a common practice. One possible approach to protect the users' privacy in this context is to use local differential privacy (LDP) protocols, which ensure the privacy protection of all users even in the case of a breach or data misuse. Existing LDP data collection protocols such as Google's RAPPOR and Microsoft's dBitFlipPM can have longitudinal privacy linear to the domain size k, which is excessive for large domains, such as Internet domains. To solve this issue, in this paper we introduce a new LDP data collection protocol for longitudinal frequency monitoring named LOngitudinal LOcal HAshing (LOLOHA) with formal privacy guarantees. In addition, the privacy-utility trade-off of our protocol is only linear with respect to a reduced domain size $2\leq g \ll k$. LOLOHA combines a domain reduction approach via local hashing with double randomization to minimize the privacy leakage incurred by data updates. As demonstrated by our theoretical analysis as well as our experimental evaluation, LOLOHA achieves a utility competitive to current state-of-the-art protocols, while substantially minimizing the longitudinal privacy budget consumption by up to k/g orders of magnitude.
Self-Supervised Monocular Depth Estimation: Solving the Edge-Fattening Problem
Venue: arXiv cs.CV 2023
Year: 2023

Self-supervised monocular depth estimation (MDE) models universally suffer from the notorious edge-fattening issue. Triplet loss, as a widespread metric learning strategy, has largely succeeded in many computer vision applications. In this paper, we redesign the patch-based triplet loss in MDE to alleviate the ubiquitous edge-fattening issue. We show two drawbacks of the raw triplet loss in MDE and demonstrate our problem-driven redesigns. First, we present a min. operator based strategy applied to all negative samples, to prevent well-performing negatives sheltering the error of edge-fattening negatives. Second, we split the anchor-positive distance and anchor-negative distance from within the original triplet, which directly optimizes the positives without any mutual effect with the negatives. Extensive experiments show the combination of these two small redesigns can achieve unprecedented results: Our powerful and versatile triplet loss not only makes our model outperform all previous SoTA by a large margin, but also provides substantial performance boosts to a large number of existing models, while introducing no extra inference computation at all.
Unsupervised Visual Odometry and Action Integration for PointGoal Navigation in Indoor Environment
Venue: arXiv cs.CV 2023
Year: 2023

PointGoal navigation in indoor environment is a fundamental task for personal robots to navigate to a specified point. Recent studies solved this PointGoal navigation task with near-perfect success rate in photo-realistically simulated environments, under the assumptions with noiseless actuation and most importantly, perfect localization with GPS and compass sensors. However, accurate GPS signalis difficult to be obtained in real indoor environment. To improve the PointGoal navigation accuracy without GPS signal, we use visual odometry (VO) and propose a novel action integration module (AIM) trained in unsupervised manner. Sepecifically, unsupervised VO computes the relative pose of the agent from the re-projection error of two adjacent frames, and then replaces the accurate GPS signal with the path integration. The pseudo position estimated by VO is used to train action integration which assists agent to update their internal perception of location and helps improve the success rate of navigation. The training and inference process only use RGB, depth, collision as well as self-action information. The experiments show that the proposed system achieves satisfactory results and outperforms the partially supervised learning algorithms on the popular Gibson dataset.
Open Framework for Analyzing Public Parliaments Data
Venue: arXiv cs.SI 2023
Year: 2023

Open information of government organizations is a subject that should interest all citizens who care about the functionality of their governments. Large-scale open governmental data open the door to new opportunities for citizens and researchers to monitor their government's activities and to improve its transparency. Over the years, various projects and systems have been processing and analyzing governmental data using open government information. Here, we present the Collecting and Analyzing Parliament Data (CAPD) framework. This novel generic open framework enables the collection and analysis of large-scale public governmental data from multiple sources. We used the framework to collect over 64,000 parliaments' protocols from over 90 committees from three countries. Then, we parsed the collected data and calculated structured features from it. Next, using the calculated features, we utilized anomaly detection and time series analysis to uncover various insights into the committees' activities. We demonstrate that the CAPD framework can be used to identify anomalous meetings and detect dates of events that affect the parliaments' functionality, and help to monitor their activities.
EraseNet: A Recurrent Residual Network for Supervised Document Cleaning
Venue: arXiv cs.CV 2023
Year: 2023

Document denoising is considered one of the most challenging tasks in computer vision. There exist millions of documents that are still to be digitized, but problems like document degradation due to natural and man-made factors make this task very difficult. This paper introduces a supervised approach for cleaning dirty documents using a new fully convolutional auto-encoder architecture. This paper focuses on restoring documents with discrepancies like deformities caused due to aging of a document, creases left on the pages that were xeroxed, random black patches, lightly visible text, etc., and also improving the quality of the image for better optical character recognition system (OCR) performance. Removing noise from scanned documents is a very important step before the documents as this noise can severely affect the performance of an OCR system. The experiments in this paper have shown promising results as the model is able to learn a variety of ordinary as well as unusual noises and rectify them efficiently.
BIASeD: Bringing Irrationality into Automated System Design
Venue: arXiv cs.HC 2023
Year: 2023

Human perception, memory and decision-making are impacted by tens of cognitive biases and heuristics that influence our actions and decisions. Despite the pervasiveness of such biases, they are generally not leveraged by today's Artificial Intelligence (AI) systems that model human behavior and interact with humans. In this theoretical paper, we claim that the future of human-machine collaboration will entail the development of AI systems that model, understand and possibly replicate human cognitive biases. We propose the need for a research agenda on the interplay between human cognitive biases and Artificial Intelligence. We categorize existing cognitive biases from the perspective of AI systems, identify three broad areas of interest and outline research directions for the design of AI systems that have a better understanding of our own biases.
Notions of Tensor Rank
Venue: arXiv cs.CC 2023
Year: 2023

Tensors, or multi-linear forms, are important objects in a variety of areas from analytics, to combinatorics, to computational complexity theory. Notions of tensor rank aim to quantify the "complexity" of these forms, and are thus also important. While there is one single definition of rank that completely captures the complexity of matrices (and thus linear transformations), there is no definitive analog for tensors. Rather, many notions of tensor rank have been defined over the years, each with their own set of uses. In this paper we survey the popular notions of tensor rank. We give a brief history of their introduction, motivating their existence, and discuss some of their applications in computer science. We also give proof sketches of recent results by Lovett, and Cohen and Moshkovitz, which prove asymptotic equivalence between three key notions of tensor rank over finite fields with at least three elements.
Testing predictions of representation cost theory with CNNs
Venue: arXiv cs.LG 2023
Year: 2023

It is widely acknowledged that trained convolutional neural networks (CNNs) have different levels of sensitivity to signals of different frequency. In particular, a number of empirical studies have documented CNNs sensitivity to low-frequency signals. In this work we show with theory and experiments that this observed sensitivity is a consequence of the frequency distribution of natural images, which is known to have most of its power concentrated in low-to-mid frequencies. Our theoretical analysis relies on representations of the layers of a CNN in frequency space, an idea that has previously been used to accelerate computations and study implicit bias of network training algorithms, but to the best of our knowledge has not been applied in the domain of model robustness.
OrderlessChain: Do Permissioned Blockchains Need Total Global Order of Transactions?
Venue: arXiv cs.DC 2023
Year: 2023

Existing permissioned blockchains often rely on coordination-based consensus protocols to ensure the safe execution of applications in a Byzantine environment. Furthermore, these protocols serialize the transactions by ordering them into a total global order. The serializability preserves the correctness of the application's state stored on the blockchain. However, using coordination-based protocols to attain the global order of transactions can limit the throughput and induce high latency. In contrast, application-level correctness requirements exist that are not dependent on the order of transactions, known as invariant-confluence (I-confluence). The I-confluent applications can execute in a coordination-free manner benefiting from the improved performance compared to the coordination-based approaches. The safety and liveness of I-confluent applications are studied in non-Byzantine environments, but the correct execution of such applications remains a challenge in Byzantine coordination-free environments. This work introduces OrderlessChain, a coordination-free permissioned blockchain for the safe and live execution of I-confluent applications in a Byzantine environment. We implemented a prototype of our system, and our evaluation results demonstrate that our coordination-free approach performs better than coordination-based blockchains.
ROMR: A ROS-based Open-source Mobile Robot
Venue: arXiv cs.RO 2023
Year: 2023

Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost \$5,000 or even more. This makes real-world experimentation prohibitively expensive and limits the applicability of such systems to everyday home or industrial tasks. Aside from their high cost, the majority of commercially available platforms are either closed-source, platform-specific or use difficult-to-customize hardware and firmware. In this work, we present a low-cost, open-source and modular alternative, referred to herein as "ROS-based Open-source Mobile Robot ($ROMR$)". $ROMR$ utilizes off-the-shelf (OTS) components, additive manufacturing technologies, aluminium profiles, and a consumer hoverboard with high-torque brushless direct current (BLDC) motors. $ROMR$ is fully compatible with the robot operating system (ROS), has a maximum payload of 90kg, and costs less than \$1500. Furthermore, ROMR offers a simple yet robust framework for contextualizing simultaneous localization and mapping (SLAM) algorithms, an essential prerequisite for autonomous robot navigation. The robustness and performance of the $ROMR$ were validated through real-world and simulation experiments. All the design, construction and software files are freely available online under the GNU GPL v3 licence at https://doi.org/10.17605/OSF.IO/K83X7. A descriptive video of $ROMR$ can be found at https://osf.io/ku8ag.
Synthesizing Dominant Strategies for Liveness (Full Version)
Venue: arXiv cs.LO 2023
Year: 2023

Reactive synthesis automatically derives a strategy that satisfies a given specification. However, requiring a strategy to meet the specification in every situation is, in many cases, too hard of a requirement. Particularly in compositional synthesis of distributed systems, individual winning strategies for the processes often do not exist. Remorsefree dominance, a weaker notion than winning, accounts for such situations: dominant strategies are only required to be as good as any alternative strategy, i.e., they are allowed to violate the specification if no other strategy would have satisfied it in the same situation. The composition of dominant strategies is only guaranteed to be dominant for safety properties, though; preventing the use of dominance in compositional synthesis for liveness specifications. Yet, safety properties are often not expressive enough. In this paper, we thus introduce a new winning condition for strategies, called delay-dominance, that overcomes this weakness of remorsefree~dominance: we show that it is compositional for many safety and liveness specifications, enabling a compositional synthesis algorithm based on delay-dominance for general specifications. Furthermore, we introduce an automaton construction for recognizing delay-dominant strategies and prove its soundness and completeness. The resulting automaton is of single-exponential size in the squared length of the specification and can immediately be used for safraless synthesis procedures. Thus, synthesis of delay-dominant strategies is, as synthesis of winning strategies, in 2EXPTIME.
The Complexity of Online Graph Games
Venue: arXiv cs.CC 2023
Year: 2023

Online computation is a concept to model uncertainty where not all information on a problem instance is known in advance. An online algorithm receives requests which reveal the instance piecewise and has to respond with irrevocable decisions. Often, an adversary is assumed that constructs the instance knowing the deterministic behavior of the algorithm. Thus, the adversary is able to tailor the input to any online algorithm. From a game theoretical point of view, the adversary and the online algorithm are players in an asymmetric two-player game. To overcome this asymmetry, the online algorithm is equipped with an isomorphic copy of the graph, which is referred to as unlabeled map. By applying the game theoretical perspective on online graph problems, where the solution is a subset of the vertices, we analyze the complexity of these online vertex subset games. For this, we introduce a framework for reducing online vertex subset games from TQBF. This framework is based on gadget reductions from 3-SATISFIABILITY to the corresponding offline problem. We further identify a set of rules for extending the 3-SATISFIABILITY-reduction and provide schemes for additional gadgets which assure that these rules are fulfilled. By extending the gadget reduction of the vertex subset problem with these additional gadgets, we obtain a reduction for the corresponding online vertex subset game. At last, we provide example reductions for online vertex subset games based on VERTEX COVER, INDEPENDENT SET, and DOMINATING SET, proving that they are PSPACE-complete. Thus, this paper establishes that the online version with a map of NP-complete vertex subset problems form a large class of PSPACE-complete problems.